Eigenvector assignment based vibration suppression control for a two link flexible joint robot arm

Park, HeeYoung; Lee, Sang-Hun

doi:10.1109/iccas.2008.4694277

Cited by 1 publication

(1 citation statement)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Korayem et al in [8] proposed to use dynamic load capacity as the performance of a flexible joint manipulator, and designed an optimal control strategy based on the linear feedback method to simulate the PUMA manipulator. Park et al in [9] presented a vibration suppression control algorithm applying the eigenvector assignment to the two link flexible joint arm model. In the simulation and experiment the algorithm showed enhanced vibration suppression performance.…”

Section: Introductionmentioning

confidence: 99%

Research on Motion Characteristics of a Space Flexible Joint Manipulator

Zhang

Wang

et al. 2021

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

Research on motion characteristics of the space flexible joint manipulator is investigated. A general dynamic model of the manipulator is established by using the Lagrange method to obtained the simplified nonlinear mathematical model of a three-arm manipulator composed of shoulder, elbow and wrist joints. The desired multi-curve path is generated by quintic interpolation polynomials. The feedback linearization technique is used to establish input-output linear state space equations. The trajectory tracking control of the three-flexible-joint manipulator is realized through the energy-optimized linear quadratic LQR and state feedback control. Motion simulations of the manipulator with different paths and joint stiffnesses are then carried out. The results show that the steady vibrations of the elbow joint, evolved from the configuration and flexibility, can be suppressed significantly by increasing the joint stiffness or damping, and reasonable trajectory planning can optimize the dynamic response of the system. It lays the foundation for designing flexible joints of the space manipulator.

show abstract

Section: Introductionmentioning

confidence: 99%